A parallel robot

Abstract

The present invention relates to the technical field of parallel robots, and discloses a parallel robot, comprising a moving platform, a machine base, a driving branch I, a driving branch II, a driving branch III, a driving branch IV and a driving branch V, wherein the driving branch I is an SRR type driving branch, the driving branch II, the driving branch III, the driving branch IV and the driving branch V are respectively four URS type driving branches with completely the same structure, the driving branch I comprises a first rotating pair, a first upper connecting rod, a second rotating pair, a first lower connecting rod and a first ball pair, the moving platform is connected to the first upper connecting rod through the first rotating pair, and the first upper connecting rod is connected to the first lower connecting rod through the second rotating pair; in the present invention, the parallel robot can realize three-dimensional rotation and two-dimensional movement, and compared with the traditional five-degree-of-freedom parallel robot, the robot has the advantages of simple structure, large working space, easy control and foldability.

Description

Technical Field

[0001] The present invention relates to the technical field of parallel robots, and specifically to a parallel robot. Background Art

[0002] In 1978, Hunt first proposed using a six-degree-of-freedom parallel mechanism as a robot manipulator, thus kicking off the research on parallel robots. However, in the following nearly 10 years, the research on parallel robots seemed to stagnate. It wasn't until the late 1980s and early 1990s that parallel robots attracted wide attention and became a hot topic in international research. A parallel robot, with the English name Parallel Mechanism, abbreviated as PM, can be defined as a closed-loop mechanism in which a moving platform and a fixed platform are connected by at least two independent kinematic chains, the mechanism has two or more degrees of freedom, and is driven in a parallel manner.

[0003] The component parts of traditional parallel robots have complex structures, and parallel robots are not convenient to fold, occupying a large amount of space. There is a need to improve a parallel robot. Summary of the Invention

[0004] (I) Technical Problems to be Solved

[0005] Aiming at the deficiencies of the prior art, the present invention provides a parallel robot, which solves the problems raised in the above background art.

[0006] (II) Technical Solutions

[0007] To achieve the above object, the present invention provides the following technical solution: A parallel robot includes a moving platform, a base, driving branch I, driving branch II, driving branch III, driving branch IV, and driving branch V. The driving branch I is an SRR-type driving branch, and the driving branch II, the driving branch III, the driving branch IV, and the driving branch V are respectively four URS-type driving branches with exactly the same structure. The driving branch I includes a first revolute pair, a first upper link, a second revolute pair, a first lower link, and a first spherical pair. The moving platform is connected to the first upper link through the first revolute pair, the first upper link is connected to the first lower link through the second revolute pair, and the first lower link is connected to the base through the first spherical pair. The driving branches II, III, IV, and V respectively include a Hooke's joint, a second lower link, a third revolute pair, a second upper link, and a second spherical pair. The base is connected to the second lower link through the Hooke's joint, the second lower link is connected to the second upper link through the third revolute pair, and the second upper link is connected to the moving platform through the second spherical pair. The second revolute pair and the third revolute pair respectively serve as driving devices.

[0008] Preferably, the rotation direction of the first rotating pair is the same as that of the second rotating pair.

[0009] Preferably, the rotation direction of the third rotating pair is perpendicular to the rotation direction of the Hooke joint fixed on the second lower connecting rod.

[0010] Preferably, the first rotating pair and the second spherical pair connected to the moving platform are evenly distributed on the same circumference centered on the center of the lower surface of the moving platform.

[0011] Preferably, the first spherical pair and the Hooke joint connected to the machine base are evenly distributed on the same circumference centered on the center of the upper surface of the moving platform.

[0012] (III) Beneficial effects

[0013] The present invention provides a parallel robot, which has the following beneficial effects:

[0014] (1) In the present invention, the parallel robot can achieve three-dimensional rotation and two-dimensional movement. Compared with the traditional five-degree-of-freedom parallel robot, this robot has the advantages of simple structure, large working space, easy control, and being able to fold. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic structural diagram of Embodiment 1 provided by the present invention;

[0016] Figure 2 It is a specific structural diagram of Embodiment 1 provided by the present invention;

[0017] Figure 3 It is a schematic structural diagram of Embodiment 2 provided by the present invention;

[0018] Figure 4 It is a specific structural diagram of Embodiment 2 provided by the present invention.

[0019] In the figure: 1, moving platform; 2, first rotating pair; 3, first upper connecting rod; 4, second rotating pair; 5, first lower connecting rod; 6, first spherical pair; 7, machine base; 8, Hooke joint; 9, second lower connecting rod; 10, third rotating pair; 11, second upper connecting rod; 12, second spherical pair. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] Embodiment 1

[0022] As shown Figure 1-2 in the figure, the present invention provides a technical solution: a parallel robot, including a moving platform 1, a base 7, a driving branch I, a driving branch II, a driving branch III, a driving branch IV and a driving branch V. The driving branch I is an SRR type driving branch, and the driving branches II, III, IV and V are respectively four URS type driving branches with exactly the same structure. The driving branch I includes a first rotating pair 2, a first upper connecting rod 3, a second rotating pair 4, a first lower connecting rod 5 and a first spherical pair 6. The moving platform 1 is connected to the first upper connecting rod 3 through the first rotating pair 2, the first upper connecting rod 3 is connected to the first lower connecting rod 5 through the second rotating pair 4, and the first lower connecting rod 5 is connected to the base 7 through the first spherical pair 6. The driving branches II, III, IV and V respectively include a Hooke's joint 8, a second lower connecting rod 9, a third rotating pair 10, a second upper connecting rod 11 and a second spherical pair 12. The base 7 is connected to the second lower connecting rod 9 through the Hooke's joint 8, the second lower connecting rod 9 is connected to the second upper connecting rod 11 through the third rotating pair 10, and the second upper connecting rod 11 is connected to the moving platform 1 through the second spherical pair 12. The second rotating pair 4 and the third rotating pair 10 respectively serve as driving devices. The parallel robot can achieve three-dimensional rotation and two-dimensional movement, and has the advantages of simple structure, large working space, easy control and being able to be folded.

[0023] Furthermore, the rotation direction of the first rotating pair 2 is the same as that of the second rotating pair 4. The same rotation direction of the two is beneficial to the movement of the first upper connecting rod 3 and the first lower connecting rod 5.

[0024] Furthermore, the rotation direction of the third rotating pair 10 is perpendicular to the rotation direction of the rotating pair where the Hooke's joint 8 is fixed on the second lower connecting rod 9.

[0025] Furthermore, the first rotating pair 2 and the second spherical pair 12 connected to the moving platform 1 are evenly distributed on the same circumference with the center of the lower surface of the moving platform 1 as the center of the circle. There is one first rotating pair 2 connected to the moving platform 1 and four second spherical pairs 12 connected to the moving platform 1. In this way, the five structural elements are evenly distributed, which is beneficial to the stable support of the moving platform 1 by the driving branches I, II, III, IV and V.

[0026] Furthermore, the first spherical pair 6 and the Hooke's joint 8 connected to the base 7 are evenly distributed on the same circumference with the center of the upper surface of the moving platform 1 as the center of the circle. There is one first spherical pair 6 and four Hooke's joints 8.

[0027] Embodiment 2

[0028] As Figure 3-4As shown in the figure, the present invention provides a technical solution: a parallel robot, including a moving platform 1, a base 7, drive branch I, drive branch II, drive branch III, drive branch IV, and drive branch V. Drive branch I is a URU type drive branch, and drive branches II, III, IV, and V are four URS type drive branches with exactly the same structure. Drive branch I includes a first Hooke joint 2, a first upper link 3, a first revolute joint 4, a first lower link 5, and a second Hooke joint 6. The moving platform 1 is connected to the first upper link 3 through the first Hooke joint 2. The first upper link 3 is connected to the first lower link 5 through the first revolute joint 4. The first lower link 5 is connected to the base 7 through the second Hooke joint 6. Drive branches II, III, IV, and V respectively include a third Hooke joint 8, a second lower link 9, a second revolute joint 10, a second upper link 11, and a second spherical joint 12. The base 7 is connected to the second lower link 9 through the third Hooke joint 8. The second lower link 9 is connected to the second upper link 11 through the second revolute joint 10. The second upper link 11 is connected to the moving platform 1 through the second spherical joint 12. The first revolute joint 4 and the second revolute joint 10 serve as drive devices. The parallel robot can achieve three-dimensional movement and two-dimensional rotation. Compared with traditional five-degree-of-freedom parallel robots, this robot has the advantages of simple structure, large working space, easy control, and the ability to fold.

[0029] Further, the direction of the revolute joint where the first Hooke joint 2 is fixed to the moving platform 1 is parallel to the axis of the first revolute joint 4, and the axis of the first revolute joint 4 is perpendicular to the axis of the revolute joint of the second Hooke joint 6 fixed on the first lower link 5.

[0030] Further, the rotation direction of the second revolute joint 10 is perpendicular to the direction of the revolute joint where the third Hooke joint 8 is fixed to the second lower link 9.

[0031] Further, the first Hooke joint 2 and the spherical joints 12 connected to the moving platform 1 are evenly distributed on the same circumference with the center of the lower surface of the moving platform 1 as the center of the circle. There is one first Hooke joint 2 and a total of four spherical joints 12. The five structural elements are distributed on the circumference, which can stably support the moving platform 1 by drive branches I, II, III, IV, and V.

[0032] Further, the second Hooke joint 6 and the third Hooke joint 8 connected to the base 7 are evenly distributed on the same circumference with the center of the upper surface of the moving platform 1 as the center of the circle. There is one second Hooke joint 6 and four third Hooke joints 8.

[0033] In summary, the working process of the present invention: When in use, through drive branches I, II, III, IV, and V, the moving platform 1 can be driven to perform three-dimensional movement or two-dimensional rotation. Compared with traditional five-degree-of-freedom parallel robots, this robot has the advantages of simple structure, large working space, easy control, and the ability to fold.

[0034] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0035] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A parallel robot, comprising a moving platform, a base, driving branch Ⅰ, driving branch Ⅱ, driving branch Ⅲ, driving branch Ⅳ and driving branch Ⅴ, Characterized in that: The driving branch Ⅰ is an SRR type driving branch, and the driving branch Ⅱ, the driving branch Ⅲ, the driving branch Ⅳ and the driving branch Ⅴ are respectively four URS type driving branches with exactly the same structure. The driving branch Ⅰ includes a first revolute pair, a first upper connecting rod, a second revolute pair, a first lower connecting rod and a first spherical pair. The moving platform is connected to the first upper connecting rod through the first revolute pair. The first upper connecting rod is connected to the first lower connecting rod through the second revolute pair. The first lower connecting rod is connected to the base through the first spherical pair. The driving branches Ⅱ, Ⅲ, Ⅳ, Ⅴ respectively include a Hooke's joint, a second lower connecting rod, a third revolute pair, a second upper connecting rod and a second spherical pair. The base is connected to the second lower connecting rod through the Hooke's joint. The second lower connecting rod is connected to the second upper connecting rod through the third revolute pair. The second upper connecting rod is connected to the moving platform through the second spherical pair. The second revolute pair and the third revolute pair respectively serve as driving devices. The rotation direction of the first revolute pair is the same as that of the second revolute pair. The rotation direction of the third revolute pair is perpendicular to the rotation direction of the revolute pair where the Hooke's joint is fixed on the second lower connecting rod.

2. The parallel robot according to claim 1, Characterized in that: The first revolute pair and the second spherical pair connected to the moving platform are evenly distributed on the same circumference with the center of the lower surface of the moving platform as the center of the circle.

3. The parallel robot according to claim 1, Characterized in that: The first spherical pair and the Hooke's joint connected to the base are evenly distributed on the same circumference with the center of the upper surface of the moving platform as the center of the circle.

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